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<div class="title">SimulatorMessage.h</div>  </div>
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<a href="../../d1/db1/_simulator_message_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#ifndef PROJECT_SIMULATORTOROBOTMESSAGE_H</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#define PROJECT_SIMULATORTOROBOTMESSAGE_H</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d6/de9/_control_parameter_interface_8h.html">ControlParameters/ControlParameterInterface.h</a>&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d7/d24/_gamepad_command_8h.html">SimUtilities/GamepadCommand.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/df2/_i_m_u_types_8h.html">SimUtilities/IMUTypes.h</a>&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/d6a/_spine_board_8h.html">SimUtilities/SpineBoard.h</a>&quot;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../df/d0d/_visualization_data_8h.html">SimUtilities/VisualizationData.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d42/ti__boardcontrol_8h.html">SimUtilities/ti_boardcontrol.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d2/dac/_shared_memory_8h.html">Utilities/SharedMemory.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4f">   23</a></span>&#160;<span class="keyword">enum class</span> <a class="code" href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4f">SimulatorMode</a> {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4fa586d6fd9d775c897fdf1d14fbc9b0616">RUN_CONTROL_PARAMETERS</a>,  <span class="comment">// don&#39;t run the robot controller, just process</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                           <span class="comment">// Control Parameters</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4faa438191831f2e6bd093884da88dd374f">RUN_CONTROLLER</a>,          <span class="comment">// run the robot controller</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4facd6102c4e0e339658526415ee06ad67d">DO_NOTHING</a>,              <span class="comment">// just to check connection</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <a class="code" href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4faa42b2fb0e720a080e79a92f4ca97d927">EXIT</a>                     <span class="comment">// quit!</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;};</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="../../da/d43/struct_simulator_to_robot_message.html">   34</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../da/d43/struct_simulator_to_robot_message.html">SimulatorToRobotMessage</a> {</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="../../da/d43/struct_simulator_to_robot_message.html#a81d562ae57822d8188cf8c52b51921ef">   35</a></span>&#160;  <a class="code" href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a> <a class="code" href="../../da/d43/struct_simulator_to_robot_message.html#a81d562ae57822d8188cf8c52b51921ef">gamepadCommand</a>;  <span class="comment">// joystick</span></div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="../../da/d43/struct_simulator_to_robot_message.html#ac21bfe49b3d3b93f15d9bc699231de4a">   36</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a> <a class="code" href="../../da/d43/struct_simulator_to_robot_message.html#ac21bfe49b3d3b93f15d9bc699231de4a">robotType</a>;  <span class="comment">// which robot the simulator thinks we are simulating</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="comment">// imu data</span></div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="../../da/d43/struct_simulator_to_robot_message.html#ac31acfa0f2da01de79e89a3884c96a9a">   39</a></span>&#160;  <a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a> <a class="code" href="../../da/d43/struct_simulator_to_robot_message.html#ac31acfa0f2da01de79e89a3884c96a9a">vectorNav</a>;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="../../da/d43/struct_simulator_to_robot_message.html#a03381cb1b455da775b2529d7b0bec173">   40</a></span>&#160;  <a class="code" href="../../d2/d3e/struct_cheater_state.html">CheaterState&lt;double&gt;</a> <a class="code" href="../../da/d43/struct_simulator_to_robot_message.html#a03381cb1b455da775b2529d7b0bec173">cheaterState</a>;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="comment">// leg data</span></div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="../../da/d43/struct_simulator_to_robot_message.html#a6c25816433c88901c4cf31ba464c09ef">   43</a></span>&#160;  <a class="code" href="../../d5/d09/struct_spi_data.html">SpiData</a> <a class="code" href="../../da/d43/struct_simulator_to_robot_message.html#a6c25816433c88901c4cf31ba464c09ef">spiData</a>;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="../../da/d43/struct_simulator_to_robot_message.html#aded792f5c9d6f505b2511b1142e981e8">   44</a></span>&#160;  <a class="code" href="../../de/de1/struct_ti_board_data.html">TiBoardData</a> tiBoardData[4];</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="comment">// todo cheetah 3</span></div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="../../da/d43/struct_simulator_to_robot_message.html#a939fd50f424b63b652f74e0b10a859eb">   46</a></span>&#160;  <a class="code" href="../../d6/d6d/struct_control_parameter_request.html">ControlParameterRequest</a> <a class="code" href="../../da/d43/struct_simulator_to_robot_message.html#a939fd50f424b63b652f74e0b10a859eb">controlParameterRequest</a>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="../../da/d43/struct_simulator_to_robot_message.html#aa6f59998045cdd44d59975abc623325b">   48</a></span>&#160;  <a class="code" href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4f">SimulatorMode</a> <a class="code" href="../../da/d43/struct_simulator_to_robot_message.html#aa6f59998045cdd44d59975abc623325b">mode</a>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;};</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="../../df/dc1/struct_robot_to_simulator_message.html">   54</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../df/dc1/struct_robot_to_simulator_message.html">RobotToSimulatorMessage</a> {</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="../../df/dc1/struct_robot_to_simulator_message.html#a8c1cf681da56e4f9dd5d10cbe667e73b">   55</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a> <a class="code" href="../../df/dc1/struct_robot_to_simulator_message.html#a8c1cf681da56e4f9dd5d10cbe667e73b">robotType</a>;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="../../df/dc1/struct_robot_to_simulator_message.html#a288d8d716795e8170016fbc1efb95b71">   56</a></span>&#160;  <a class="code" href="../../d0/ddd/struct_spi_command.html">SpiCommand</a> <a class="code" href="../../df/dc1/struct_robot_to_simulator_message.html#a288d8d716795e8170016fbc1efb95b71">spiCommand</a>;</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="../../df/dc1/struct_robot_to_simulator_message.html#ad089afb40ec9553fbfb528d9d43d65ba">   57</a></span>&#160;  <a class="code" href="../../d8/d03/struct_ti_board_command.html">TiBoardCommand</a> tiBoardCommand[4];</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="../../df/dc1/struct_robot_to_simulator_message.html#a00664edcb74f04007a088816f9c23317">   59</a></span>&#160;  <a class="code" href="../../d3/d60/struct_visualization_data.html">VisualizationData</a> <a class="code" href="../../df/dc1/struct_robot_to_simulator_message.html#a00664edcb74f04007a088816f9c23317">visualizationData</a>;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="../../df/dc1/struct_robot_to_simulator_message.html#ad566e714047e7c8ba8e543620519b5b8">   60</a></span>&#160;  <a class="code" href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a> <a class="code" href="../../df/dc1/struct_robot_to_simulator_message.html#ad566e714047e7c8ba8e543620519b5b8">mainCheetahVisualization</a>;</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="../../df/dc1/struct_robot_to_simulator_message.html#ae877e8f32edbcece569582b85929b3a2">   61</a></span>&#160;  <a class="code" href="../../d4/d34/struct_control_parameter_response.html">ControlParameterResponse</a> <a class="code" href="../../df/dc1/struct_robot_to_simulator_message.html#ae877e8f32edbcece569582b85929b3a2">controlParameterResponse</a>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;};</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="../../d6/d14/struct_simulator_message.html">   67</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d6/d14/struct_simulator_message.html">SimulatorMessage</a> {</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="../../d6/d14/struct_simulator_message.html#ac4fef0a30db058d4f91c4d5b3f28f602">   68</a></span>&#160;  <a class="code" href="../../df/dc1/struct_robot_to_simulator_message.html">RobotToSimulatorMessage</a> <a class="code" href="../../d6/d14/struct_simulator_message.html#ac4fef0a30db058d4f91c4d5b3f28f602">robotToSim</a>;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="../../d6/d14/struct_simulator_message.html#a1c4ebf7ff7c846946acca89df2c1d289">   69</a></span>&#160;  <a class="code" href="../../da/d43/struct_simulator_to_robot_message.html">SimulatorToRobotMessage</a> <a class="code" href="../../d6/d14/struct_simulator_message.html#a1c4ebf7ff7c846946acca89df2c1d289">simToRobot</a>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;};</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="../../d4/d34/struct_simulator_syncronized_message.html">   87</a></span>&#160;<span class="keyword">struct </span><a class="code" href="../../d4/d34/struct_simulator_syncronized_message.html">SimulatorSyncronizedMessage</a> : <span class="keyword">public</span> <a class="code" href="../../d6/d14/struct_simulator_message.html">SimulatorMessage</a> {</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="../../d4/d34/struct_simulator_syncronized_message.html#a1adc39cf228474e33c79e8ae37239315">   91</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d4/d34/struct_simulator_syncronized_message.html#a1adc39cf228474e33c79e8ae37239315">init</a>() {</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    robotToSimSemaphore.init(0);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    simToRobotSemaphore.init(0);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  }</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="../../d4/d34/struct_simulator_syncronized_message.html#abd0e4d7babb326e99b1e9f4cd118573b">   96</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d4/d34/struct_simulator_syncronized_message.html#abd0e4d7babb326e99b1e9f4cd118573b">waitForSimulator</a>() { simToRobotSemaphore.decrement(); }</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="../../d4/d34/struct_simulator_syncronized_message.html#acb666808ca9df77c69d84407c2baa96c">   98</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d4/d34/struct_simulator_syncronized_message.html#acb666808ca9df77c69d84407c2baa96c">simulatorIsDone</a>() { simToRobotSemaphore.increment(); }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="../../d4/d34/struct_simulator_syncronized_message.html#aae7f2fa43eb9f58e26117651129e92ed">  100</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d4/d34/struct_simulator_syncronized_message.html#aae7f2fa43eb9f58e26117651129e92ed">waitForRobot</a>() { robotToSimSemaphore.decrement(); }</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="../../d4/d34/struct_simulator_syncronized_message.html#a657ef58ba50ee56f2622fa05c8c8fbe4">  102</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../d4/d34/struct_simulator_syncronized_message.html#a657ef58ba50ee56f2622fa05c8c8fbe4">tryWaitForRobot</a>() { <span class="keywordflow">return</span> robotToSimSemaphore.tryDecrement(); }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="../../d4/d34/struct_simulator_syncronized_message.html#a9a2b2054a629d1618485a797a310175d">  104</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../d4/d34/struct_simulator_syncronized_message.html#a9a2b2054a629d1618485a797a310175d">waitForRobotWithTimeout</a>() {</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordflow">return</span> robotToSimSemaphore.decrementTimeout(1, 0);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  }</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="../../d4/d34/struct_simulator_syncronized_message.html#a744e0ac58f399eb3ef7bfbbfe5f634e5">  108</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d4/d34/struct_simulator_syncronized_message.html#a744e0ac58f399eb3ef7bfbbfe5f634e5">robotIsDone</a>() { robotToSimSemaphore.increment(); }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="../../d4/d34/struct_simulator_syncronized_message.html#a6be6cb1388072625892bbc18ae48e02b">  111</a></span>&#160;  <a class="code" href="../../db/d41/class_shared_memory_semaphore.html">SharedMemorySemaphore</a> robotToSimSemaphore, <a class="code" href="../../d4/d34/struct_simulator_syncronized_message.html#a6be6cb1388072625892bbc18ae48e02b">simToRobotSemaphore</a>;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;};</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="preprocessor">#endif  // PROJECT_SIMULATORTOROBOTMESSAGE_H</span></div><div class="ttc" id="struct_robot_to_simulator_message_html_a8c1cf681da56e4f9dd5d10cbe667e73b"><div class="ttname"><a href="../../df/dc1/struct_robot_to_simulator_message.html#a8c1cf681da56e4f9dd5d10cbe667e73b">RobotToSimulatorMessage::robotType</a></div><div class="ttdeci">RobotType robotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00055">SimulatorMessage.h:55</a></div></div>
<div class="ttc" id="struct_robot_to_simulator_message_html_ae877e8f32edbcece569582b85929b3a2"><div class="ttname"><a href="../../df/dc1/struct_robot_to_simulator_message.html#ae877e8f32edbcece569582b85929b3a2">RobotToSimulatorMessage::controlParameterResponse</a></div><div class="ttdeci">ControlParameterResponse controlParameterResponse</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00061">SimulatorMessage.h:61</a></div></div>
<div class="ttc" id="_shared_memory_8h_html"><div class="ttname"><a href="../../d2/dac/_shared_memory_8h.html">SharedMemory.h</a></div><div class="ttdoc">Shared memory utilities for connecting the simulator program to the robot program. </div></div>
<div class="ttc" id="class_shared_memory_semaphore_html"><div class="ttname"><a href="../../db/d41/class_shared_memory_semaphore.html">SharedMemorySemaphore</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dac/_shared_memory_8h_source.html#l00027">SharedMemory.h:27</a></div></div>
<div class="ttc" id="struct_cheetah_visualization_html"><div class="ttname"><a href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00037">VisualizationData.h:37</a></div></div>
<div class="ttc" id="struct_simulator_to_robot_message_html_a03381cb1b455da775b2529d7b0bec173"><div class="ttname"><a href="../../da/d43/struct_simulator_to_robot_message.html#a03381cb1b455da775b2529d7b0bec173">SimulatorToRobotMessage::cheaterState</a></div><div class="ttdeci">CheaterState&lt; double &gt; cheaterState</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00040">SimulatorMessage.h:40</a></div></div>
<div class="ttc" id="struct_spi_command_html"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html">SpiCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00010">SpineBoard.h:10</a></div></div>
<div class="ttc" id="struct_simulator_syncronized_message_html_a1adc39cf228474e33c79e8ae37239315"><div class="ttname"><a href="../../d4/d34/struct_simulator_syncronized_message.html#a1adc39cf228474e33c79e8ae37239315">SimulatorSyncronizedMessage::init</a></div><div class="ttdeci">void init()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00091">SimulatorMessage.h:91</a></div></div>
<div class="ttc" id="_simulator_message_8h_html_a486e39cd4b287080b175f8736f67de4f"><div class="ttname"><a href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4f">SimulatorMode</a></div><div class="ttdeci">SimulatorMode</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00023">SimulatorMessage.h:23</a></div></div>
<div class="ttc" id="struct_simulator_syncronized_message_html_acb666808ca9df77c69d84407c2baa96c"><div class="ttname"><a href="../../d4/d34/struct_simulator_syncronized_message.html#acb666808ca9df77c69d84407c2baa96c">SimulatorSyncronizedMessage::simulatorIsDone</a></div><div class="ttdeci">void simulatorIsDone()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00098">SimulatorMessage.h:98</a></div></div>
<div class="ttc" id="struct_simulator_message_html_ac4fef0a30db058d4f91c4d5b3f28f602"><div class="ttname"><a href="../../d6/d14/struct_simulator_message.html#ac4fef0a30db058d4f91c4d5b3f28f602">SimulatorMessage::robotToSim</a></div><div class="ttdeci">RobotToSimulatorMessage robotToSim</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00068">SimulatorMessage.h:68</a></div></div>
<div class="ttc" id="struct_simulator_to_robot_message_html_a6c25816433c88901c4cf31ba464c09ef"><div class="ttname"><a href="../../da/d43/struct_simulator_to_robot_message.html#a6c25816433c88901c4cf31ba464c09ef">SimulatorToRobotMessage::spiData</a></div><div class="ttdeci">SpiData spiData</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00043">SimulatorMessage.h:43</a></div></div>
<div class="ttc" id="_simulator_message_8h_html_a486e39cd4b287080b175f8736f67de4facd6102c4e0e339658526415ee06ad67d"><div class="ttname"><a href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4facd6102c4e0e339658526415ee06ad67d">SimulatorMode::DO_NOTHING</a></div></div>
<div class="ttc" id="struct_simulator_syncronized_message_html_a744e0ac58f399eb3ef7bfbbfe5f634e5"><div class="ttname"><a href="../../d4/d34/struct_simulator_syncronized_message.html#a744e0ac58f399eb3ef7bfbbfe5f634e5">SimulatorSyncronizedMessage::robotIsDone</a></div><div class="ttdeci">void robotIsDone()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00108">SimulatorMessage.h:108</a></div></div>
<div class="ttc" id="struct_visualization_data_html"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html">VisualizationData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00060">VisualizationData.h:60</a></div></div>
<div class="ttc" id="struct_simulator_syncronized_message_html"><div class="ttname"><a href="../../d4/d34/struct_simulator_syncronized_message.html">SimulatorSyncronizedMessage</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00087">SimulatorMessage.h:87</a></div></div>
<div class="ttc" id="struct_gamepad_command_html"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00012">GamepadCommand.h:12</a></div></div>
<div class="ttc" id="struct_robot_to_simulator_message_html_a00664edcb74f04007a088816f9c23317"><div class="ttname"><a href="../../df/dc1/struct_robot_to_simulator_message.html#a00664edcb74f04007a088816f9c23317">RobotToSimulatorMessage::visualizationData</a></div><div class="ttdeci">VisualizationData visualizationData</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00059">SimulatorMessage.h:59</a></div></div>
<div class="ttc" id="struct_robot_to_simulator_message_html_ad566e714047e7c8ba8e543620519b5b8"><div class="ttname"><a href="../../df/dc1/struct_robot_to_simulator_message.html#ad566e714047e7c8ba8e543620519b5b8">RobotToSimulatorMessage::mainCheetahVisualization</a></div><div class="ttdeci">CheetahVisualization mainCheetahVisualization</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00060">SimulatorMessage.h:60</a></div></div>
<div class="ttc" id="struct_robot_to_simulator_message_html_a288d8d716795e8170016fbc1efb95b71"><div class="ttname"><a href="../../df/dc1/struct_robot_to_simulator_message.html#a288d8d716795e8170016fbc1efb95b71">RobotToSimulatorMessage::spiCommand</a></div><div class="ttdeci">SpiCommand spiCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00056">SimulatorMessage.h:56</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00013">IMUTypes.h:13</a></div></div>
<div class="ttc" id="struct_simulator_to_robot_message_html_a81d562ae57822d8188cf8c52b51921ef"><div class="ttname"><a href="../../da/d43/struct_simulator_to_robot_message.html#a81d562ae57822d8188cf8c52b51921ef">SimulatorToRobotMessage::gamepadCommand</a></div><div class="ttdeci">GamepadCommand gamepadCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00035">SimulatorMessage.h:35</a></div></div>
<div class="ttc" id="struct_robot_to_simulator_message_html"><div class="ttname"><a href="../../df/dc1/struct_robot_to_simulator_message.html">RobotToSimulatorMessage</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00054">SimulatorMessage.h:54</a></div></div>
<div class="ttc" id="_spine_board_8h_html"><div class="ttname"><a href="../../d0/d6a/_spine_board_8h.html">SpineBoard.h</a></div><div class="ttdoc">Spine Board Code, used to simulate the SpineBoard. </div></div>
<div class="ttc" id="struct_cheater_state_html"><div class="ttname"><a href="../../d2/d3e/struct_cheater_state.html">CheaterState&lt; double &gt;</a></div></div>
<div class="ttc" id="struct_simulator_message_html_a1c4ebf7ff7c846946acca89df2c1d289"><div class="ttname"><a href="../../d6/d14/struct_simulator_message.html#a1c4ebf7ff7c846946acca89df2c1d289">SimulatorMessage::simToRobot</a></div><div class="ttdeci">SimulatorToRobotMessage simToRobot</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00069">SimulatorMessage.h:69</a></div></div>
<div class="ttc" id="struct_simulator_syncronized_message_html_abd0e4d7babb326e99b1e9f4cd118573b"><div class="ttname"><a href="../../d4/d34/struct_simulator_syncronized_message.html#abd0e4d7babb326e99b1e9f4cd118573b">SimulatorSyncronizedMessage::waitForSimulator</a></div><div class="ttdeci">void waitForSimulator()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00096">SimulatorMessage.h:96</a></div></div>
<div class="ttc" id="struct_simulator_syncronized_message_html_aae7f2fa43eb9f58e26117651129e92ed"><div class="ttname"><a href="../../d4/d34/struct_simulator_syncronized_message.html#aae7f2fa43eb9f58e26117651129e92ed">SimulatorSyncronizedMessage::waitForRobot</a></div><div class="ttdeci">void waitForRobot()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00100">SimulatorMessage.h:100</a></div></div>
<div class="ttc" id="struct_simulator_to_robot_message_html_aa6f59998045cdd44d59975abc623325b"><div class="ttname"><a href="../../da/d43/struct_simulator_to_robot_message.html#aa6f59998045cdd44d59975abc623325b">SimulatorToRobotMessage::mode</a></div><div class="ttdeci">SimulatorMode mode</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00048">SimulatorMessage.h:48</a></div></div>
<div class="ttc" id="_simulator_message_8h_html_a486e39cd4b287080b175f8736f67de4faa42b2fb0e720a080e79a92f4ca97d927"><div class="ttname"><a href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4faa42b2fb0e720a080e79a92f4ca97d927">SimulatorMode::EXIT</a></div></div>
<div class="ttc" id="struct_simulator_syncronized_message_html_a6be6cb1388072625892bbc18ae48e02b"><div class="ttname"><a href="../../d4/d34/struct_simulator_syncronized_message.html#a6be6cb1388072625892bbc18ae48e02b">SimulatorSyncronizedMessage::simToRobotSemaphore</a></div><div class="ttdeci">SharedMemorySemaphore simToRobotSemaphore</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00111">SimulatorMessage.h:111</a></div></div>
<div class="ttc" id="struct_ti_board_command_html"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html">TiBoardCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00009">ti_boardcontrol.h:9</a></div></div>
<div class="ttc" id="_simulator_message_8h_html_a486e39cd4b287080b175f8736f67de4fa586d6fd9d775c897fdf1d14fbc9b0616"><div class="ttname"><a href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4fa586d6fd9d775c897fdf1d14fbc9b0616">SimulatorMode::RUN_CONTROL_PARAMETERS</a></div></div>
<div class="ttc" id="_simulator_message_8h_html_a486e39cd4b287080b175f8736f67de4faa438191831f2e6bd093884da88dd374f"><div class="ttname"><a href="../../d1/db1/_simulator_message_8h.html#a486e39cd4b287080b175f8736f67de4faa438191831f2e6bd093884da88dd374f">SimulatorMode::RUN_CONTROLLER</a></div></div>
<div class="ttc" id="struct_simulator_to_robot_message_html_ac31acfa0f2da01de79e89a3884c96a9a"><div class="ttname"><a href="../../da/d43/struct_simulator_to_robot_message.html#ac31acfa0f2da01de79e89a3884c96a9a">SimulatorToRobotMessage::vectorNav</a></div><div class="ttdeci">VectorNavData vectorNav</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00039">SimulatorMessage.h:39</a></div></div>
<div class="ttc" id="_gamepad_command_8h_html"><div class="ttname"><a href="../../d7/d24/_gamepad_command_8h.html">GamepadCommand.h</a></div><div class="ttdoc">The GamepadCommand type containing joystick information. </div></div>
<div class="ttc" id="_control_parameter_interface_8h_html"><div class="ttname"><a href="../../d6/de9/_control_parameter_interface_8h.html">ControlParameterInterface.h</a></div><div class="ttdoc">Types to allow remote access of control parameters, for use with LCM/Shared memory. </div></div>
<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a></div><div class="ttdeci">RobotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00120">cppTypes.h:120</a></div></div>
<div class="ttc" id="struct_ti_board_data_html"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html">TiBoardData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00020">ti_boardcontrol.h:20</a></div></div>
<div class="ttc" id="struct_simulator_message_html"><div class="ttname"><a href="../../d6/d14/struct_simulator_message.html">SimulatorMessage</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00067">SimulatorMessage.h:67</a></div></div>
<div class="ttc" id="ti__boardcontrol_8h_html"><div class="ttname"><a href="../../d9/d42/ti__boardcontrol_8h.html">ti_boardcontrol.h</a></div></div>
<div class="ttc" id="_i_m_u_types_8h_html"><div class="ttname"><a href="../../d0/df2/_i_m_u_types_8h.html">IMUTypes.h</a></div><div class="ttdoc">Data from IMUs. </div></div>
<div class="ttc" id="struct_simulator_to_robot_message_html"><div class="ttname"><a href="../../da/d43/struct_simulator_to_robot_message.html">SimulatorToRobotMessage</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00034">SimulatorMessage.h:34</a></div></div>
<div class="ttc" id="struct_simulator_syncronized_message_html_a9a2b2054a629d1618485a797a310175d"><div class="ttname"><a href="../../d4/d34/struct_simulator_syncronized_message.html#a9a2b2054a629d1618485a797a310175d">SimulatorSyncronizedMessage::waitForRobotWithTimeout</a></div><div class="ttdeci">bool waitForRobotWithTimeout()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00104">SimulatorMessage.h:104</a></div></div>
<div class="ttc" id="struct_simulator_to_robot_message_html_a939fd50f424b63b652f74e0b10a859eb"><div class="ttname"><a href="../../da/d43/struct_simulator_to_robot_message.html#a939fd50f424b63b652f74e0b10a859eb">SimulatorToRobotMessage::controlParameterRequest</a></div><div class="ttdeci">ControlParameterRequest controlParameterRequest</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00046">SimulatorMessage.h:46</a></div></div>
<div class="ttc" id="struct_control_parameter_response_html"><div class="ttname"><a href="../../d4/d34/struct_control_parameter_response.html">ControlParameterResponse</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d6/de9/_control_parameter_interface_8h_source.html#l00063">ControlParameterInterface.h:63</a></div></div>
<div class="ttc" id="struct_simulator_syncronized_message_html_a657ef58ba50ee56f2622fa05c8c8fbe4"><div class="ttname"><a href="../../d4/d34/struct_simulator_syncronized_message.html#a657ef58ba50ee56f2622fa05c8c8fbe4">SimulatorSyncronizedMessage::tryWaitForRobot</a></div><div class="ttdeci">bool tryWaitForRobot()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00102">SimulatorMessage.h:102</a></div></div>
<div class="ttc" id="struct_simulator_to_robot_message_html_ac21bfe49b3d3b93f15d9bc699231de4a"><div class="ttname"><a href="../../da/d43/struct_simulator_to_robot_message.html#ac21bfe49b3d3b93f15d9bc699231de4a">SimulatorToRobotMessage::robotType</a></div><div class="ttdeci">RobotType robotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/db1/_simulator_message_8h_source.html#l00036">SimulatorMessage.h:36</a></div></div>
<div class="ttc" id="_visualization_data_8h_html"><div class="ttname"><a href="../../df/d0d/_visualization_data_8h.html">VisualizationData.h</a></div></div>
<div class="ttc" id="struct_spi_data_html"><div class="ttname"><a href="../../d5/d09/struct_spi_data.html">SpiData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00034">SpineBoard.h:34</a></div></div>
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